Python sample codes and textbook for robotics algorithms.

Open-source digital stylus using camera tracking and inertial measurements

Modular Python tool for parsing, analyzing, and visualizing Global Navigation Satellite Systems (GNSS) data and state estimates

6-axis(3-axis acceleration sensor+3-axis gyro sensor) IMU fusion with Extended Kalman Filter.

High accuracy multi-agent UWB localization for a system of UAVs and UGVs collaborating for accurate positioning in a GPS-denied environment.

Radar and Lidar Sensor Fusion using Simple, Extended, and Unscented Kalman Filter for Object Tracking and State Prediction.

An INS-EKF-ZUPT for Pedestrian Dead Reckoning

3D EKF-SLAM Using Multi-Level Parameterized Representations

An Intuitive tutorial on Bayesian filtering

Python implementation of an Extended Kalman Filter.

Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM

Pure Python/Numpy Bayesian Filtering and Smoothing

Research Project on Multi-robot Target Tracking via Deep Reinforcement Learning

UWB+IMU fusion using collaborative EKF i.e. sharing data between agents. Continuation of single robot case https://github.com/simutisernestas/rfloc

EKF for sensor fusion of IMU, Wheel Velocities, and GPS data for NCLT dataset

Sensor fusion between Odometry and Lidar data using an Extended Kalman Filter.

EKF, EIF and SEIF for SLAM

KF, EKF and UKF in Python

UWB EKF positioning. Multi agent case + IMU fusion is extended in the following work: https://github.com/simutisernestas/jubilant-dollop

Implementation of several popular Kalman filter nonlinear variants intended for robotics systems and vehicle state estimation, including Extended Kalman Filter, Unscented Kalman Filter, Error State EKF, Invariant EKF, Square Root EKF, Cubature KF.